# Main controller options
uint8 main_controller

# Leg Gains
float64 leg_pos_kp
float64 leg_pos_kd

# Hip Gains
float64 hip_pos_kp
float64 left_toe_pos
float64 hip_pos_kd
float64 right_toe_pos

# Debug
float64 current_limit
float64 deflection_limit
float64 velocity_limit
